fix(ndt_scan_matcher): avoid passing nullptr in ndt #6620
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Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
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## main #6620 +/- ##
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- Coverage 14.79% 14.79% -0.01%
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Files 1920 1920
Lines 132398 132400 +2
Branches 39345 39347 +2
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- Misses 90970 90972 +2
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…on#6620) Avoid passing nullptr in ndt Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
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…on#6620) Avoid passing nullptr in ndt Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
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Description
The following PR for ndt_omp has been changed to now crash when a nullptr is passed to
MultiGridNormalDistributionsTransform::setInputSource.https://github.com/tier4/ndt_omp/pull/40/files
In this PR, Fixed the possibility of passing nullptr during initial position estimation in map_update_module.
This could occur in situations with low computing resources, such as on a laptop. This is because if there is no long range LiDAR in the concat point cloud, input pointcloud cannot be accepted and input_source remains as nullptr.
Tests performed
logging_simulatorruns with the same accuracy as before on AWSIM data with GT.Effects on system behavior
This will prevent the NDT node from crashing.
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